Fixes

rosidl_generator_dds_idl/bin/rosidl_generator_dds_idl

@@ -3,7 +3,7 @@
 import argparse
 import sys
 
-from rosidl_generator_dds_idl import convert_dds_idl
+from rosidl_generator_dds_idl import generate_dds_idl
 
 
 def main(argv=sys.argv[1:]):
@@ -14,15 +14,11 @@ def main(argv=sys.argv[1:]):
         '--generator-arguments-file',
         required=True,
         help='The location of the file containing the generator arguments')
-     parser.add_argument(
-         '--subfolders',
-         nargs='*',
-         help='The subfolders between the package name and the interface '
-              'definition')
-    # parser.add_argument(
-    #     '--extension',
-    #     nargs='?',
-    #     help='The Python module extending the generator')
+    parser.add_argument(
+        '--subfolders',
+        nargs='*',
+        help='The subfolders between the package name and the interface '
+             'definition')
     args = parser.parse_args(argv)
 
     return generate_dds_idl(args.generator_arguments_file, args.subfolders)

rosidl_generator_dds_idl/resource/idl.idl.em

@@ -2,13 +2,19 @@
 // with input from @(package_name):@(interface_path)
 // generated code does not contain a copyright notice
 @{
+import os
 from rosidl_parser.definition import Include
-for includes in content.get_elements_of_type(Include):
+includes = content.get_elements_of_type(Include)
 }@
 @[if includes]@
 
 @[  for include in includes]@
-#include "@(include.locator)"
+@{
+name, ext = os.path.splitext(include.locator)
+dir_name = os.path.dirname(name)
+include_name = '{}_{}'.format(os.path.join(dir_name, *subfolders, os.path.basename(name)), ext)
+}@
+#include "@(include_name)"
 @[  end for]@
 @[end if]@
 @{

rosidl_generator_dds_idl/resource/msg.idl.em

@@ -1,38 +1,39 @@
 @# Included from rosidl_generator_dds_idl/resource/idl.idl.em
 @{
-from rosidl_parser.definition import BasicType
+from rosidl_generator_dds_idl import idl_typename, idl_literal
+
+from rosidl_parser.definition import Array
+from rosidl_parser.definition import BaseType
 from rosidl_parser.definition import BoundedSequence
 from rosidl_parser.definition import CONSTANT_MODULE_SUFFIX
 from rosidl_parser.definition import NestedType
 from rosidl_parser.definition import Sequence
-from rosidl_parser.definition import String
 }@
-@[for ns in messages.structure.type.namespaces]@
+@[for ns in message.structure.type.namespaces]@
 module @(ns) {
 
 @[end for]@
 module dds_ {
 
 @[if message.constants]@
-module @{message.structure.type.name}@@(CONSTANT_MODULE_SUFFIX) {
-@[  for constant in message.constants]@
-const @(idl_base_type(constant.type)) @(constant.name) = @(idl_literal(constant.value));
+module @(message.structure.type.name)@(CONSTANT_MODULE_SUFFIX) {
+@[  for constant in message.constants.values()]@
+const @(idl_typename(constant.type)) @(constant.name) = @(idl_literal(constant.type, constant.value));
 @[  end for]
-}
+};
 @[end if]@
 
 struct @(message.structure.type.name)_ {
 @[for member in message.structure.members]@
 @[  if isinstance(member.type, NestedType)]@
 @[    if isinstance(member.type, Array)]@
-@(idl_base_type(member.type.basetype)) @(member.name)[@(member.type.size)];
+@(idl_typename(member.type.basetype)) @(member.name)[@(member.type.size)];
 @[    elif isinstance(member.type, Sequence)]@
-sequence<@(idl_base_type(member.type.basetype))@
+sequence<@(idl_typename(member.type.basetype))@
 @[      if isinstance(member.type, BoundedSequence)]@
 , @(member.type.upper_bound)@
 @[      end if]@
 > @(member.name);
-@(member.name)[@(member.type.size)];
 @[    else]@
 
 @[    end if]
@@ -50,4 +51,4 @@ sequence<@(idl_base_type(member.type.basetype))@
 @[for ns in reversed(message.structure.type.namespaces)]@
 };  // module @(ns) {
 
-@[end for]@
+@[end for]@

rosidl_generator_dds_idl/rosidl_generator_dds_idl/__init__.py

@@ -12,32 +12,46 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import os
+
 from rosidl_cmake import generate_files
-from rosidl_parser import BaseType
-from rosidl_parser import BaseString
-from rosidl_parser import BasicType
-from rosidl_parser import NamespacedType
-from rosidl_parser import String
-from rosidl_parser import WString
+from rosidl_parser.definition import BaseType
+from rosidl_parser.definition import BaseString
+from rosidl_parser.definition import BasicType
+from rosidl_parser.definition import NamespacedType
+from rosidl_parser.definition import String
+from rosidl_parser.definition import WString
 
 
 def generate_dds_idl(generator_arguments_file, subfolders):
     mapping = {
-        'idl.idl.em': os.path.join(*subfolders, '%s.idl')
+        'idl.idl.em': os.path.join(*subfolders, '%s_.idl')
     }
-    functions = {
-        'idl_typename': idl_typename,
-        'idl_literal': idl_literal
+    data = {
+      'subfolders' : subfolders
     }
-    generate_files(generator_arguments_file, mapping, functions)
+    generate_files(generator_arguments_file, mapping, data, keep_case=True)
     return 0
 
 
+# used by the template
+EXPLICIT_TYPE_TO_IMPLICIT_TYPE = {
+    'int8': 'octet',
+    'uint8': 'octet',
+    'int16': 'short',
+    'uint16': 'unsigned short',
+    'int32': 'long',
+    'uint32': 'unsigned long',
+    'int64': 'long long',
+    'uint64': 'unsigned long long',
+}
+
+
 # used by the template
 def idl_typename(type_):
     assert(isinstance(type_, BaseType))
     if isinstance(type_, BasicType):
-        typename = type_.type
+        typename = EXPLICIT_TYPE_TO_IMPLICIT_TYPE.get(type_.type, type_.type)
     elif isinstance(type_, BaseString):
         if isinstance(type_, String):
             typename = 'string'